In order for an agent to make use of the inferred mental state of another agent \(Q_t(L_j) := Q_t(s_j) ~~\forall s_j \in L_j\) , this third source of information is integrated through a mechanism of belief resonance. The core idea is to make the agent's self-beliefs about its own intentions and goals (which are affecting its actions by way of active inference) affected by its current beliefs about the intentions and goals of the interaction partner. That is, we assume that the agent has inferred a distribution \(Q_t(L_j)\)  about the mental state of another agent. While HAICA does not make any assumptions here about how this mental state has been inferred, we do note that on-the-fly coordination imposes real-time requirements. Classical inverse-planning or other full BToM adaptations can quickly become computationally too demanding without the use of strong priors [1]}.
Since we are focusing on efficient models for on-the-fly coordination here, we use a “satisficing” (i.e. satisfying and sufficing) approach [2]} with a BToM model adapted to the Overcooked domain. This approach will be presented in detail in Sect. REF .
